'''
Created on Aug 5, 2019

@author: modys
'''

if __name__ == '__main__':
    pass
from kinematicModel import Bicycle
import numpy as np

sample_time = 0.01;
time_end = 20;

model = Bicycle(time_end,sample_time);

model.reset();
model.set_cfg();
model.set_steeringAngleRad(np.tan(2.0/10.0))

v_data = np.zeros(model.getDataLength());
v_data[:] = np.pi;

for i in range(model.getDataLength()):
    model.step(v_data[i],0.0,i );
    
model.plotResults(); 